Benchmarking Bimanual Cloth Manipulation

被引：59

作者：

Garcia-Camacho, Irene ^{[1
]}

Lippi, Martina ^{[2
,3
]}

Welle, Michael C. ^{[2
]}

Yin, Hang ^{[2
]}

Antonova, Rika ^{[2
]}

Varava, Anastasiia ^{[2
]}

Borras, Julia ^{[1
]}

Torras, Carme ^{[1
]}

Marino, Alessandro ^{[4
]}

Alenya, Guillem ^{[1
]}

Kragic, Danica ^{[2
]}

机构：

[1] CSIC UPC, Inst Robot & Informat Ind, Barcelona 08902, Spain

[2] KTH Royal Inst Technol Stockholm, EECS, Robot Percept & Learning Lab, S-11417 Stockholm, Sweden

[3] Univ Salerno, I-84084 Salerno, Italy

[4] Univ Cassino & Southern Lazio, I-03043 Cassino, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

基金：

欧盟地平线“2020”; 瑞典研究理事会;

关键词：

Cooperating robots; performance evaluation and benchmarking; ROBOT;

D O I：

10.1109/LRA.2020.2965891

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this letter, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics.

引用

页码：1111 / 1118

页数：8

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